Research On Controller Design And Motion Control Of Reconfigurable Robot Joint Module

In recent years, the modular reconfigurable robot has characteristics of high flexibility, short design cycle, high reliability and low cost. It has been widely researched and used in laboratory research, aerospace, nuclear industry, military and other fields. The work of this thesis is supported by Research on Reconfigurable Robot Rigid Coupling System Dynamics Modeling and Active Vibration Control(No.60905048), the National Natural Science Foundation of China, according to research on controller design and motion control of reconfigurable robot joint module to carry out related research. The paper introduces the research status of modular controller design and motion control algorithm to modular reconfigurable robot both in China and abroad, as well as indicates the main research content and research work in this project. Aiming at research on controller design and motion control of reconfigurable robot joint module, several aspects as follows:(1) Analyzed the modular composition and function of reconfigurable robot system and control system, as well as the modular reconfigurable robot configuration variability. Analyzed and summarized modular reconfigurable robot’s joint module controller main functions: responsible for the underlying driver, with the host computer and the other module communication, control, status detection and power conversion detection.(2) Aiming at the function requirements of the joint module controller, designed a set of low-level drivers, communication, control, status monitoring and power conversion module controller in a body. Joint module controller for three constituent units, namely the drive unit, control unit and power supply unit. Hardware design basis, device selection and achievable the functions main function of the circuit, are introduced. The assembled joint module controller is tested.(3) Aiming at modular reconfigurable robot configuration variability, this paper proposes a suitable for the PID parameter configuration changes of the self-tuning method. The method includes coarse and fine two parts. Coarse part on the basis of modular reconfigurable robot system configuration identification and the corresponding kinematic and mechanical analysis, PID parameters extracted from the library to meet the module type PID parameters and mechanical properties of the joint module control be initialized. Fine-tuning adaptive control based on fuzzy theory part, adjust the parameters for the PID controller is a single module, the module for the joint design of fuzzy controller position loop PID controller to achieve PID parameters online self-tuning.(4) This part of the experiment, first of all, for the joint experiment module controller is tested to verify the functionality of the joint module controller to meet design requirements; Secondly the establishment of the PID parameters of the experimental configuration based on the identification, verified the host computer can provide the initial parameters of PID for the joint module controller; then, the establishment of a Simulink simulation platform, the simulation proved that online self-tuning PID parameters of the process, the validity of fuzzy adaptive PID algorithm; Finally, the PID parameters debugging experiment inspection of the PID parameters apply configuration changes since the practical effect of the adjustment method.